
/**
  ******************************************************************************
  * Copyright 2021 The grapilot Authors. All Rights Reserved.
  * 
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  * 
  * http://www.apache.org/licenses/LICENSE-2.0
  * 
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  * 
  * @file       p.h
  * @author     baiyang
  * @date       2021-8-8
  ******************************************************************************
  */

#pragma once

#ifdef __cplusplus
extern "C"{
#endif

/*----------------------------------include-----------------------------------*/

/*-----------------------------------macro------------------------------------*/

/*----------------------------------typedef-----------------------------------*/
typedef struct
{
    float _kp;
} P_ctrl;

/*----------------------------------variable----------------------------------*/

/*-------------------------------------os-------------------------------------*/

/*----------------------------------function----------------------------------*/
static inline void p_ctrl_init(P_ctrl * controler, float kp) { controler->_kp = kp; }
static inline float p_ctrl_get_p(P_ctrl * controler, float error) { return error * controler->_kp; }
static inline float p_ctrl_get_kp(P_ctrl * controler) { return controler->_kp; }
static inline void p_ctrl_set_kp(P_ctrl * controler, float kp) { controler->_kp = kp; }

float p_ctrl_sqrt_controller(float error, float p, float second_ord_lim, float dt);
// inverse of the sqrt controller.  calculates the input (aka error) to the sqrt_controller required to achieve a given output
float inv_sqrt_controller(float output, float p, float D_max);
/*------------------------------------test------------------------------------*/

#ifdef __cplusplus
}
#endif



